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7/25/2019 Proposal for human follwing mobile robot
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HUMAN FOLLOWING
MOBILE ROBOT USING
VISUAL NAVIGATION
PROJECT SUPERVISOR
DR. MUHAMMAD UMER KH
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Group Members
SUNAN RAZA KHAN (120535)
MUHAMMAD BIN SALEEM (120547)
SHUMAIL ZAHEER (120567)
MUHAMMAD UMAIR (120589)
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Contents
Introduction
Mathematical Modeling
Mechanical Design
Demonstration
Questions and Answers
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Introduction
Problem Statement
The ultimate goal of our project is to make an UnGround Vehicle (UGV) follow a single human usinnavigation based on static gestures given by the hum
followed.
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Introduction
Objectives and Goals
Detect a human body.
Follow a single human as he/she walks.
Gesture recognition (to start and stop the robot)
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Introduction
Constraints
Single human following
No obstacle avoidance
Moderate speed of human
Robot moves over smooth surfaces.
Only static gestures
No payload
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Introduction
Block Diagram
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Introduction
Robot Operating System
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Introduction
Why ROS?
Modularity
Concurrent resource handling
Distributed computation
Software Reuse
Rapid testing
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Mathematical Modelling
ontrol Model Diagram
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Mathematical Modelling
Transfer Function:
=
2 + + + +
Shifting Towards load:
=
1
50
()
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Mathematical Modelling
Simulink without PID controller Diagram and response
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Mathematical Modelling
With PID controller Diagram and response:
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Mechanical Design
Robot base has 3 main compartments:Lower compartment
Intermediate compartment
Upper compartment
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Mechanical Design
Lower Compartment:This compartment has:
Motors
Batteries
Chain driveGears
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Mechanical Design
Intermediate compartment:This is a sliding compartment
Our laptop will be placed in
this compartment
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Mechanical Design
Upper Compartment:This compartment has the
electrical circuits like:
H-bridge
Power BoardArduino Mega 2560
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Mechanical Design
Stress AnalysisNet force: 1000N
Force on robot base frame: 500N
Force on slider: 400N
Force on Circuit section: 100N
Yield Stress: 9.352x10-12 4.596x 10-03 MPa
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Demonstration
Basic architecture of ROSPackages
Nodes
Topics
Messages
ROS master
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Demonstration
Packages used in our demonstration
OpenNI
NITE
Rosserial
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Demonstration
Representation of ROS Architecture
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Demonstration
yes
Flow Chart
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Demonstration
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Tentative Cost Analysis
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Timeline
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